AMCL

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amcl is a probabilistic localization system for a robot moving in 2D. It implements the adaptive (or KLD-sampling) Monte Carlo localization approach (as described by Dieter Fox), which uses a particle filter to track the pose of a robot against a known map. http://www.ros.org/wiki/amcl

Voir http://fablab.ensimag.fr/index.php/RobAIR/SLAM